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<div class="title">binary_node.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">Redistribution and use in source and binary forms, with or without modification,</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">Redistributions of source code must retain the above copyright notice, this list of</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">conditions and the following disclaimer. Redistributions in binary form must reproduce</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">the above copyright notice, this list of conditions and the following disclaimer</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">in the documentation and/or other materials provided with the distribution. </span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">Neither the name of the Johns Hopkins University nor the names of its contributors</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">may be used to endorse or promote products derived from this software without specific</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">prior written permission. </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND ANY</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES </span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">DAMAGE.</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#ifndef BINARY_NODE_INCLUDED</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define BINARY_NODE_INCLUDED</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define MSVC_2010_FIX 1</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">namespace </span>poisson</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  {</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Real&gt;</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classpcl_1_1poisson_1_1_binary_node.html">   39</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1poisson_1_1_binary_node.html">BinaryNode</a></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CenterCount( <span class="keywordtype">int</span> depth ) { <span class="keywordflow">return</span>  1&lt;&lt;depth; }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CornerCount( <span class="keywordtype">int</span> depth ) { <span class="keywordflow">return</span> (1&lt;&lt;depth)+1; }</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CumulativeCenterCount( <span class="keywordtype">int</span> maxDepth ) { <span class="keywordflow">return</span> (1&lt;&lt;(maxDepth+1))-1; }</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CumulativeCornerCount( <span class="keywordtype">int</span> maxDepth ) { <span class="keywordflow">return</span> (1&lt;&lt;(maxDepth+1))+maxDepth; }</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> Index( <span class="keywordtype">int</span> depth , <span class="keywordtype">int</span> offSet ) { <span class="keywordflow">return</span> (1&lt;&lt;depth)+offSet-1; }</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CenterIndex( <span class="keywordtype">int</span> depth , <span class="keywordtype">int</span> offSet ) { <span class="keywordflow">return</span> (1&lt;&lt;depth)+offSet-1; }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CornerIndex( <span class="keywordtype">int</span> depth , <span class="keywordtype">int</span> offSet ) { <span class="keywordflow">return</span> (1&lt;&lt;depth)+offSet+depth; }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> CornerIndex( <span class="keywordtype">int</span> maxDepth , <span class="keywordtype">int</span> depth , <span class="keywordtype">int</span> offSet , <span class="keywordtype">int</span> forwardCorner ){ <span class="keywordflow">return</span> (offSet+forwardCorner)&lt;&lt;(maxDepth-depth); }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> Real CornerIndexPosition(<span class="keywordtype">int</span> index,<span class="keywordtype">int</span> maxDepth){ <span class="keywordflow">return</span> Real(index)/(1&lt;&lt;maxDepth); }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> Real Width(<span class="keywordtype">int</span> depth){ <span class="keywordflow">return</span> Real(1.0/(1&lt;&lt;depth)); }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> CenterAndWidth( <span class="keywordtype">int</span> depth , <span class="keywordtype">int</span> offset , Real&amp; center , Real&amp; width )</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          width=Real (1.0/(1&lt;&lt;depth) );</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          center=Real((0.5+offset)*width);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> CenterAndWidth( <span class="keywordtype">int</span> idx , Real&amp; center , Real&amp; width )</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          <span class="keywordtype">int</span> depth , offset;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          DepthAndOffset( idx , depth , offset );</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          CenterAndWidth( depth , offset , center , width );</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> DepthAndOffset( <span class="keywordtype">int</span> idx , <span class="keywordtype">int</span>&amp; depth , <span class="keywordtype">int</span>&amp; offset )</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          <span class="keywordtype">int</span> i=idx+1;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#if MSVC_2010_FIX</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          depth = 0;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#else </span><span class="comment">// !MSVC_2010_FIX</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          depth = -1;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// MSVC_2010_FIX</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keywordflow">while</span>( i )</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            i &gt;&gt;= 1;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            depth++;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#if MSVC_2010_FIX</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          depth--;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// MSVC_2010_FIX</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          offset = ( idx+1 ) - (1&lt;&lt;depth);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// BINARY_NODE_INCLUDED</span></div>
<div class="ttc" id="aclasspcl_1_1poisson_1_1_binary_node_html"><div class="ttname"><a href="classpcl_1_1poisson_1_1_binary_node.html">pcl::poisson::BinaryNode</a></div><div class="ttdef"><b>Definition:</b> binary_node.h:40</div></div>
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